The answer is yes and yes. Don't know the cause until it's taken to the bench. Guessing won't fix it. Did you read the link I gave? Shows the Bendix parts. Explains function. A Bendix is a spring that is pushing the pinion down the shaft to engage flywheel. There is no "synchromesh", it's a crashing event. Over the years teeth get worn or broken. The spring will break also...or spring or pinion retention to shaft can break. Bushings, grease and dirt.....Ya naire know. Could be anything.
Take starter off. I don't think you want to mess with the electric motor part of the starter, just the mechanical. You are supposed to enjoy fixing stuff.

Right is right, even if everyone is against it, and wrong is wrong, even if everyone is for it. - William Penn